Fix interactive marker in rviz (#10)

* Fix terrain planner interactive marker

* Start with interact by default

Author: Jaeyoung-Lim

mav_planning_rviz/src/goal_marker.cpp

@@ -5,6 +5,7 @@
 using std::placeholders::_1;
 
 GoalMarker::GoalMarker(rclcpp::Node::SharedPtr node) : node_(node), marker_server_("goal", node) {
+  set_goal_marker_.header.stamp = node_->now();
   set_goal_marker_.header.frame_id = "map";
   set_goal_marker_.name = "set_pose";
   set_goal_marker_.scale = 100.0;
@@ -21,6 +22,7 @@ GoalMarker::GoalMarker(rclcpp::Node::SharedPtr node) : node_(node), marker_serve
   control.orientation.z = 0;
   control.interaction_mode = visualization_msgs::msg::InteractiveMarkerControl::MOVE_PLANE;
   control.name = "move plane";
+  control.always_visible = true;  
   set_goal_marker_.controls.push_back(control);
 
   marker_server_.insert(set_goal_marker_);

terrain_planner/launch/config.rviz

@@ -8,7 +8,7 @@ Panels:
         - /Vehicle1
         - /Vehicle1/VehiclePoseMarker1/Namespaces1
       Splitter Ratio: 0.5
-    Tree Height: 280
+    Tree Height: 288
   - Class: rviz_common/Selection
     Name: Selection
   - Class: rviz_common/Tool Properties
@@ -180,7 +180,7 @@ Visualization Manager:
           Enabled: true
           Name: CandidateGoalMarker
           Namespaces:
-            goal: true
+            {}
           Topic:
             Depth: 5
             Durability Policy: Volatile
@@ -193,7 +193,7 @@ Visualization Manager:
           Enabled: true
           Name: CandidateStartMarker
           Namespaces:
-            start: true
+            {}
           Topic:
             Depth: 5
             Durability Policy: Volatile
@@ -266,7 +266,7 @@ Visualization Manager:
           Enabled: true
           Name: PathSegmentsMarkerArray
           Namespaces:
-            normals: true
+            {}
           Topic:
             Depth: 5
             Durability Policy: Volatile
@@ -433,6 +433,8 @@ Visualization Manager:
     Frame Rate: 30
   Name: root
   Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
     - Class: rviz_default_plugins/MoveCamera
     - Class: rviz_default_plugins/Select
     - Class: rviz_default_plugins/FocusCamera
@@ -463,8 +465,6 @@ Visualization Manager:
         History Policy: Keep Last
         Reliability Policy: Reliable
         Value: /clicked_point
-    - Class: rviz_default_plugins/Interact
-      Hide Inactive Objects: true
     - Class: nav2_rviz_plugins/GoalTool
   Transformation:
     Current:
@@ -480,18 +480,18 @@ Visualization Manager:
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: 808.8604736328125
-        Y: -174.71060180664062
-        Z: 1149.7601318359375
+        X: 394.65667724609375
+        Y: -18.57610511779785
+        Z: 1979.8104248046875
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 1.5697963237762451
+      Pitch: 0.5397968292236328
       Target Frame: map
       Value: Orbit (rviz_default_plugins)
-      Yaw: -1.5700000524520874
+      Yaw: 0.43000179529190063
     Saved: ~
 Window Geometry:
   Displays:
@@ -501,7 +501,7 @@ Window Geometry:
   Hide Right Dock: true
   PlanningPanel:
     collapsed: false
-  QMainWindow State: 000000ff00000000fd0000000400000000000002ad000002dafc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006200fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000006400000167000000e300fffffffb0000001a0050006c0061006e006e0069006e006700500061006e0065006c01000001cc000001720000017200fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d006100670065010000020c000001b10000000000000000fb0000000c00540065006c0065006f00700000000368000000b20000007a00ffffff000000010000010f000002dafc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000064000002da000000c600fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b20000000000000000000000020000052b00000037fc0100000002fb0000000800540069006d006501000000000000052b0000023d00fffffffb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000014efc0100000001fb0000000800540069006d006501000000000000045000000000000000000000027d000002da00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000400000000000002ad000002c6fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000780000015b000000c700fffffffb0000001a0050006c0061006e006e0069006e006700500061006e0065006c01000001d9000001650000014e00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d006100670065010000020c000001b10000000000000000fb0000000c00540065006c0065006f00700000000368000000b20000006e00ffffff000000010000010f000002dafc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000064000002da000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b20000000000000000000000020000052b00000037fc0100000002fb0000000800540069006d006501000000000000052b0000025300fffffffb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000014efc0100000001fb0000000800540069006d0065010000000000000450000000000000000000000278000002c600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Teleop:
@@ -513,5 +513,5 @@ Window Geometry:
   Views:
     collapsed: true
   Width: 1323
-  X: 0
+  X: 70
   Y: 38